Kinematic Modelling of UR5 Cobot Using Dual Quaternion Approach

2021 ◽  
pp. 1077-1085
Author(s):  
Mohsin Dalvi ◽  
Shital S. Chiddarwar ◽  
M. R. Rahul ◽  
Saumya Ranjan Sahoo
Keyword(s):  
Dual Quaternion ◽  
Kinematic Modelling

scholarly journals Dual Quaternion Delay Compensating Maneuver Regulation for Fully Actuated UAVs

2020 ◽  
Vol 53 (2) ◽  
pp. 9316-9321
Author(s):  
Giulia Michieletto ◽  
Nicola Lissandrini ◽  
Andrea Antonello ◽  
Riccardo Antonello ◽  
Angelo Cenedese
Keyword(s):  
Dual Quaternion

Screw Algorithm Optimized with Instantaneous Signals

2012 ◽  
Vol 229-231 ◽  
pp. 1671-1674
Author(s):  
Jian Feng Chen ◽  
Xi Yuan Chen ◽  
Xue Fen Zhu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Angular Rate ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Specific Force ◽  
Dual Quaternion ◽  
Screw Motion ◽  
Direct Component ◽  
Simulation Results

Recent dramatic progress in strapdown inertial navigation system (SINS) algorithm is the design of SINS principle based on screw algorithm, utilizing dual quaternion. In this paper, the screw algorithm consisting of angular rate and specific force is optimized under a special screw motion. The special screw motion is derived from classical screw motion and can be taken as a complicated sculling motion including classical coning motion. Subsequently, the coefficients in the multi-sample screw algorithms and the corresponding algorithm drifts are determined by minimizing the error on direct component. The simulation results of attitude and velocity errors agree with the optimization goals, except when the number of subinterval is greater than 2. An explanation of this phenomenon is delivered.

scholarly journals Relative Status Determination for Spacecraft Relative Motion Based on Dual Quaternion

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Jun Sun ◽  
Shijie Zhang ◽  
Xiande Wu ◽  
Fengzhi Guo ◽  
Yaen Xie
Keyword(s):  
Relative Motion ◽  
Dynamic Models ◽  
Attitude Determination ◽  
System State ◽  
Dual Quaternion ◽  
Dynamics Model ◽  
Navigation Problem ◽  
Spacecraft Formation ◽  
Navigation Algorithm ◽  
Relative Status

For the two-satellite formation, the relative motion and attitude determination algorithm is a key component that affects the flight quality and mission efficiency. The relative status determination algorithm is proposed based on the Extended Kalman Filter (EKF) and the system state optimal estimate linearization. Aiming at the relative motion of the spacecraft formation navigation problem, the spacecraft relative kinematics and dynamics model are derived from the dual quaternion in the algorithm. Then taking advantage of EKF technique, combining with the dual quaternion integrated dynamic models, considering the navigation algorithm using the fusion measurement by the gyroscope and star sensors, the relative status determination algorithm is designed. At last the simulation is done to verify the feasibility of the algorithm. The simulation results show that the EKF algorithm has faster convergence speed and higher accuracy.

Multi-spacecraft position-attitude coupling model based on dual quaternion

2018 ◽  
Author(s):  
Chengchen Deng ◽  
Zhen Shi ◽  
Xinzhu Sun ◽  
Xiande Wu ◽  
Wenbin Bai ◽  
...  
Keyword(s):  
Coupling Model ◽  
Dual Quaternion ◽  
Model Based ◽  
Spacecraft Position
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